Modular prosthetic hand system

2. The modular prosthetic hand of claim 1, wherein each finger module further comprises a proximal phalanx and a distal phalanx, the proximal phalanx being attached to the knuckle section by a first rotary hinge joint, the knuckle section comprising an actuation mechanism and associated actuator motor configured to cause rotation of the proximal phalanx about the first rotary hinge joint.

3. The modular prosthetic hand of claim 2, wherein the distal phalanx is attached to the proximal phalanx via a second rotary hinge joint, the proximal and distal phalanges being configured in a double-rocker four-bar linkage, such that rotation of the proximal phalanx about the first rotary hinge joint causes a coordinated rotation of the distal phalanx about the second rotary hinge joint.

4. The modular prosthetic hand of claim 2, wherein the palm module comprises electronic control circuitry to control the actuator motors of the plurality of finger modules.

5. The modular prosthetic hand of claim 4, wherein each of the finger modules further comprises a position transducer associated with the respective actuation mechanism and electrical wiring for connecting the actuator motor and the position transducer to the electronic control circuitry.

6. The modular prosthetic hand of claim 5, wherein the actuator motor and the position transducer are parts of a servomotor.

7. The modular prosthetic hand of claim 4, wherein one or more of the finger modules each comprise a force sensor to measure an external force acting on the finger module and electrical wiring for connecting the force sensor and the actuator motor to the electronic circuitry.

8. The modular prosthetic hand of claim 7, wherein the force sensor is placed at a tip of the distal phalanx of the respective finger module.

9. The modular prosthetic hand of claim 7, wherein the palm module further comprises a visual indicator configured to indicate a strength of the external force.

10. The modular prosthetic hand of claim 9, wherein the visual indicator comprises a light-emitting diode (LED) indicator ring.

11. The modular prosthetic hand of claim 1, further comprising a wrist module having an electric quick disconnect (EQD) coupling mechanism for connection to a prosthetic socket.

12. The modular prosthetic hand of claim 11, wherein the palm module comprises a mounting recess to which the wrist module is releasably attached.

13. The modular prosthetic hand of claim 1, further comprising a thumb module comprising a metacarpal section releasably attached to the palm module.

15. The modular prosthetic hand of claim 14, wherein the visual indicator comprises a ring of LEDs configured to sequentially light up as the strength of the one or more external forces increases from a set first strength to a set second strength.

16. The modular prosthetic hand of claim 15, wherein the ring of LEDs comprises multiple sections having LEDs of multiple respective colors.

17. The modular prosthetic hand of claim 14, wherein the force sensors comprise force sensors placed at tips of the finger modules.

18. The modular prosthetic hand of claim 14, comprising an exterior layer of compliant material, wherein the force sensors are placed underneath the exterior layer.

19. The modular prosthetic hand of claim 14, wherein the force sensors comprise force-sensing resistors.